一、下载pcl-翻墙打开以下网站
https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1
1.将此页面下滑，找到下图两个文件下载
2.下载的两个文件放到一个文件夹中
2.打开下载好的以下文件
PCL-1.8.1-AllInOne-msvc2017-win64.exe
二、安装点云库
1.点击下载的PCL-1.8.1-AllInOne-msvc2017-win64.exe安装
2.点击下一步
3.我接受
4.修改为选择第二个-下一步
5.自定义文件路径-自己修改为自己想要安装的路径
6.下一步
7.安装
8.打开安装好的OpenNI2这个路径（PCL是我新建的文件夹，里面有最开始下载的两个文件，pcl是PCL-1.8.1-AllInOne-msvc2017-win64.exe安装时候选择的安装路径）
9.双击打开-next
10.选择Remove-点击Remove
11.前面相当于卸载了一遍OpenNI2，下面自己在重新双击安装，安装路径不变，如下图
12.把下载的这个文件的的文件（如下图）复制
13.粘贴到下图路径下（PCL是我新建的文件夹，里面有最开始下载的两个文件，pcl是PCL-1.8.1-AllInOne-msvc2017-win64.exe安装时候选择的安装路径）
三、配置系统环境变量
1.搜索电脑的环境变量（或者其他方法找到环境变量）
2.系统属性-高级-右下角环境变量-点击环境变量
3.找到系统变量-双击PATH
4.新建-添加几个PCL路径
5.需要新建添加的路径如下图
6.添加保存后退出
四、新建VS空项目-配置环境
1.打开VS2017-新建空项目-Dehug选择x64
2.点击视图-其他窗口-属性管理器
3.右键Debug | x64-添加新项目属性表
4.新建成功-双击新建属性表
5.VC++目录-添加包含目录和库目录
6.包含目录-添加路径后确定
D:\PCL\pcl\PCL 1.8.1\3rdParty\OpenNI2\Include
D:\PCL\pcl\PCL 1.8.1\3rdParty\FLANN\include
D:\PCL\pcl\PCL 1.8.1\3rdParty\Eigen\eigen3
D:\PCL\pcl\PCL 1.8.1\3rdParty\Boost\include\boost-1_64
D:\PCL\pcl\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0
D:\PCL\pcl\PCL 1.8.1\3rdParty\Qhull\include
D:\PCL\pcl\PCL 1.8.1\include\pcl-1.8
7.库目录-添加路径后确定
D:\PCL\pcl\PCL 1.8.1\3rdParty\OpenNI2\Lib
D:\PCL\pcl\PCL 1.8.1\3rdParty\VTK\lib
D:\PCL\pcl\PCL 1.8.1\3rdParty\Qhull\lib
D:\PCL\pcl\PCL 1.8.1\3rdParty\FLANN\lib
D:\PCL\pcl\PCL 1.8.1\3rdParty\Boost\lib
D:\PCL\pcl\PCL 1.8.1\lib
8.C/C++--所有选项--SDL检查设置为否
9.C/C++--预处理器定义-添加以下-确定
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING
10.链接器-输入-附加依赖项-复制粘贴以下-确定
vtknetcdf_c++-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_ply_debug.lib
pcl_io_debug.lib
pcl_kdtree_debug.lib
pcl_keypoints_debug.lib
pcl_ml_debug.lib
pcl_octree_debug.lib
pcl_outofcore_debug.lib
pcl_people_debug.lib
pcl_recognition_debug.lib
pcl_registration_debug.lib
pcl_sample_consensus_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib
五、配置完成-检验配置是否成功
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/cloud_viewer.h>
int main() {
// 创建一个点云对象，点类型为 XYZ
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 设置点云的尺寸
cloud->width = 100; // 点的数量
cloud->height = 1; // 无序点云（height=1 表示无序）
cloud->is_dense = false;
cloud->points.resize(cloud->width * cloud->height);
// 随机生成点云数据
for (auto& point : cloud->points) {
point.x = 1024 * rand() / (RAND_MAX + 1.0f);
point.y = 1024 * rand() / (RAND_MAX + 1.0f);
point.z = 1024 * rand() / (RAND_MAX + 1.0f);
}
// 创建一个点云查看器对象
pcl::visualization::CloudViewer viewer("Simple Cloud Viewer");
// 显示点云
viewer.showCloud(cloud);
// 等待查看器窗口关闭
while (!viewer.wasStopped()) {
}
return 0;
}